Attempting to do it without lifting will likely lead to:
* Stripped bolts: Difficult access makes it easier to round off bolt heads.
* Damaged oil pan: You risk scratching or damaging the pan during removal and installation.
* Frustration and wasted time: The process will be significantly more difficult and time-consuming.
In short, while theoretically possible in an extremely rare, perfectly-aligned situation, raising the engine even slightly is strongly recommended for a successful and damage-free oil pan replacement. Using engine supports is the safest and easiest method.